2
  0.0121299    0.999925 -0.00163825   0.0168477
  -0.872655   0.0113862    0.488204   -0.189939
   0.488186 -0.00449235    0.872728    0.851857
          0           0           0           1
 -0.520569   0.852331 -0.0504005  -0.258714
 -0.759013  -0.434924   0.484501 -0.0900322
  0.391034   0.290471   0.873338    0.77755
         0          0          0          1
